DocumentCode
2721572
Title
Experimental verification of visual tracking of surgical tools
Author
Dutkiewicz, Piotr ; Kietczewski, M. ; Kowalski, Michal ; Wróblewski, Waldemar
Author_Institution
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
fYear
2005
fDate
23-25 June 2005
Firstpage
237
Lastpage
242
Abstract
In the paper, experimental verification of vision feedback in position control of surgical tools for minimal invasive surgery (MIS) (Dutkiewicz et al., 2004) is presented. The laparoscope positioning is based on computer recognition of surgical tools on the image from a laparoscopic camera. Experimental results, obtained from special laboratory test bed based on the Staubli robot equipped with laparoscopic camera are presented.
Keywords
endoscopes; feedback; image recognition; manipulators; medical robotics; robot vision; surgery; tracking; Staubli robot; computer vision; experimental verification; image recognition; laparoscope positioning; laparoscopic camera; minimal invasive surgery; position control; surgical tools; vision feedback; visual tracking; Cameras; Control systems; Laboratories; Laparoscopes; Manipulators; Medical robotics; Minimally invasive surgery; Robot kinematics; Robot vision systems; Telerobotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN
83-7143-266-6
Type
conf
DOI
10.1109/ROMOCO.2005.201430
Filename
1554409
Link To Document